Yoga streams and goals

Swami Vivekananda classified Yoga(in-fact whole of spirituality) in 4 streams. It is based on 4 important qualities or characteristics of human being. This is the most rational classification I have found till date so worth mentioning here:

1) Karma Yoga (culturing the action)
Gita is considered best literature on Karma Yoga.
Explained by Sri Krishna in response of very practical questions asked by Arjuna in battlefield.
It is the path of action, about performing one's worldly duties ethically and efficiently. Karma Yoga answers many of conflicts in practical life.

Karmanyevadhikaraste ma phaleshu kadacana,
Ma karmaphala heturbhuh ma te sangostakarmani - Gita-2.47

Yagah Karmasu Kausalam- Gita 2.50

2) Raja Yoga (culturing the will)

Patanjali's Astanga Yoga is also called Raj Yoga. Pantajali Yoga Sutras are considered best literature on Raja Yoga.
Raja Yoga has 8 steps
1) Yama
2) Niyama
3) Asana
4) Pranayama
5) Prayahara
6) Dharana
7) Dhayana
8) Samadhi

uddharedatmanatmanam natmanamavasadayet,
atmaiva hyatmano bandhuh atmaiva ripuratmanah – Gita 6.5

3) Bhakti Yoga(culturing the emotion)
Ramayana as well as Gita is full of Bhakti Yoga.
Bhakti Yoga is surrendering to Lord in order do away with Ego.

Chaturvidha bhanjte mam janah sukrtin o Arjuna
arto jijnasurartharthi jnani ca bharatarsabha – Gita 7.16

4) Jnana Yoga(culturing the knowledge)
Gita is again considered best literature on Jnana Yoga
Jnana Yoga has following steps:
1) Sravana- listening
2) Manana- understand, cognize and question it to maximum extent possible
3) Nidhiyasana- experiment and live it
4) Jnana- realization
5) Jivan mukti- free while alive
6) Sidha sthiti – greater bliss
7) Moksha – highest freedom, state of absolute bliss, total knowledge

tadvidhi pranipatena pariprasnena sevaya,
upadeksyanti te jnanam tattvadarsinah – Gita -4.34

“Seek that enlightenment by respectful behavior, by questioning and by service; the wise seer will instruct you in that knowledge”

Physical part of all this Yoga is easy; comes with practice. However when we move into higher and higher dimension it becomes more and more hazy and difficult.

I have been practicing physical part and have learned it reasonably OK, but when I go into higher dimensions it becomes more and more difficult, more and more questions come... some get answered some not... I go up, fall... and go up again... I will go up by stairs instead of elevator because I enjoy climbing the stairs...There may not be a God waiting for me on the top, but I will go up because I love climbing the stairs...

To the main thread now:
Shail, I thank you again for starting the topic. Re-incarnation part of Gita is neither answered in my mind, nor I find any good references yet. I will read writers you suggested, but will continue only when they I get reasonable answers to initial questions mind poses.

However Shail, Notice a crack in your heel, as you been answering the questions instead of asking.

We all may have different personality, motivation, and goals; Let us all - Seek that enlightenment by respectful behavior, by questioning and by service.

PS: this was in response of a facebook debate re-incarnation.